Unigine::LeapMotion::Arm Struct

This structure represents a forearm and has the following set of properties:

witdh

Width of the forearm, in meters.

is_valid

Indicates whether the arm contains valid tracking data (1).

elbow_position

Coordinates of the elbow position.

wrist_position

Coordinates of the wrist position.

center

Coordinates of the center of the forearm.

direction

Normalized direction in which the arm is pointing (from elbow to wrist).

basis

Orthonormal basis vectors for the arm bone as a Matrix.

Basis vectors specify the orientation of the arm bone:

X - Perpendicular to the longitudinal axis of the arm bone; exits the arm laterally through the sides of the wrist.

Y (or up vector) - Perpendicular to the longitudinal axis of the arm bone; exits the top and bottom of the arm. Increases in the upward direction.

Z - Aligned with the longitudinal axis of the arm bone. Increases toward the wrist.

The bases provided for the right arm use the right-hand rule; those for the left arm use the left-hand rule. Thus, the positive direction of the x-basis is to the right for the right arm and to the left for the left arm. You can change from right-hand to left-hand rule by multiplying the z basis vector by -1.

You can use the basis vectors for such purposes as measuring complex finger poses and skeletal animation.

Notice

Converting the basis vectors directly into a quaternion representation is not mathematically valid. If you use quaternions, create them from the derived rotation matrix not directly from the bases.